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Trajectory Planning
5.1 INTRODUCTION
In this chapters.
Path and trajectory planning means the way that a robot is
moved
from one location to another in a controlled manner.
The sequence of movements for a controlled movement
between
motion segment, in straight-line motion or in sequential
motions.
It requires the use of both kinematics and dynamics of
robots.
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
- The motion between the two points is known at all times and
controllable.
- It is easy to visualize the trajectory, but is is difficult to ensure
that
singularity.
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
the beginning.
Go at a constant cruising rate.
Decelerate with smaller segments as
approaching
point B.
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
The initial location and orientation of the robot is known, and using the inverse
kinematic equations, we find the final joint angles for the desired position and
orientation.
(t ) c0 c1t c2t 2 c3t 3
(ti ) c0 i
(ti ) i
(t f ) c0 c1t f c2t 2f c3t 3f
(t f ) f
&(ti ) c1 0
2
(t ) c1 2c2t 3c3t
&(ti ) 0
(t f ) c1 2c2t f 3c3t 2f 0
First derivative of the
(t f ) 0
polynomial of equation
Initial Condition
Substituting the initial
and final conditions
Example
It is desired to have the first joint of a six-axis robot go from initial angle of 30 o to
a final angle of 75o in 5 seconds. Using a third-order polynomial, calculate the
joint angle at 1, 2 3, and 4 seconds.
&(0) c1 0
Chapter 5
Trajectory Planning
(t ) c1 2c2t 3c3t 2
(t ) 2c2 6c3t 12c4t 2 20c5t 3
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
1
(t ) c0 c1t c2t 2
2
(t ) c1 c2t
(t ) c2
1
(t ) i c2t 2
2
(t ) c2t
(t ) c2
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
Chapter 5
Trajectory Planning
(2) Calculate the position and orientation of the hand based on the selected
function for the trajectory.
(3) Calculate the joint values for the position and orientation through the
inverse kinematic equations of the robot.
(4) Send the joint information to the controller.
(5) Go to the beginning of the loop